Calculation of forward and inverse kinematics, Jacobian matrices, dynamic modeling, trajectory planning and geometric calibration for robotic manipulators

Reinforcement learning using rlkit, UR5, Robotiq gripper on ROS(Robot Operating System)

Code for keypoint-based visual servo IROS2020

🤖 Simulate and control two Universal Robots arms simultaneously using NVIDIA Isaac Sim. Explore real-time control, collision avoidance, and path planning in a digital twin environment.

This repository showcases my project focused on implementing a pick and place operation using a 9 Degrees of Freedom (DOF) mobile manipulator robot in Gazebo, along with Rviz visualizations. The application is geared towards cleaning in compact and cluttered environments.

This project focuses on training robots to grasp everyday objects accurately. We gather a unique point cloud dataset using an iPhone's LiDAR and process it with Polycam. We develop a PointNet model from scratch to perform multi-class classification and part-segmentation, guiding the robot on where to grasp objects.

PyTorch implementation of the paper Overcoming Exploration in Reinforcement Learning with Demonstrations in surgical robot manipulation tasks.

Workshop resources for simulating UR manipulators with Nvidia Isaac Sim and ROS 2 for ROSCon ES 2024.

Simple ros2 grasp service

This repository contains Python scripts for simulating the movements of a robotic arm in both 3D and 4D environments. The simulations demonstrate the arm's capability to track complex trajectories and perform intricate movements, showcasing the potential applications in real-life robotics.

The ROS drivers for the svenzva arm product line.

Reinforcement Learning and Sim-to-Real transfer for autonomous parking. Physical construction of a mobile robot to test the Sim-to-Real transfer. The goal of this physical robot is to implement a reinforcement learning algorithm to enable autonomous navigation and tasks such as parking.

Robot Operating System (ROS) based Robotic Arm used in Kitchen Automation

Service robot development for RoboCup @Home OPL

This is a python based solver for forward and inverse kinematics for planar robotic manipulator.

Reinforcement learning, robotics simulation with agent using NAF+HER learning method. Agent's task is to fetch puck to desired position using dynamic contact.

ROS package providing a gym-like interface for the Sawyer Robot at U-AIM Lab

Python and OpenCV used to Control an Underactuated Robot Manipulator

robotic arm for pick and place where it is controlled using PS4 controller or image processing

Simulation and trajectory control algorithms of the ARM 5E Mini manipulator.